Learning to Navigate by Pushing

摘要

In this work, we investigate a form of dynamic contact-rich locomotion in which a robot pushes off from obstacles in order to move through its environment. We present a reflex-based approach that switches between optimized hand-crafted reflex controllers and produces smooth and predictable motions. In contrast to previous work, our approach does not rely on periodic movements, complex models of robot and contact dynamics, or extensive hand tuning. We demonstrate the effectiveness of our approach and evaluate its performance compared to a standard model-free RL algorithm. We identify continuous clusters of similar behaviours, which allows us to successfully transfer different push-off motions directly from simulation to a physical robot without further retraining.